Full State‐Constrained Cooperative Guidance and Control for Multiple 6‐DOF Interceptors With Self‐Adjusting Prescribed Performance Under Switching Topology and Time‐Varying Delay

A novel 6‐DOF cooperative guidance and control law against a maneuvering target is proposed under full state constraints and non‐ideal communication conditions. Taking the impact time and impact angle into account, a comprehensive integrated guidance and control (IGC) model with thrust is formulated. The user‐defined flight limitations are well tackled by incorporating a nonlinear mapping function into the IGC dynamic, which brings about a fully state‐constraint‐free IGC model. Considering a multi‐interceptor balanced system under switching topology and time‐varying delay, a Lyapunov–Krasovskii function‐based sufficient criterion is proposed, based on which an acceleration command in the direction of the line of sight (LOS) is generated to guarantee a simultaneous interception. The backstepping control technique combined with the fixed‐time disturbance observer is implemented to formulate a robust fin deflection command in the normal direction of LOS. The overall desired transit and steady guidance performance is greatly enhanced by designing a novel prescribed performance control method with a self‐adjusting mechanism. The simulation results show the effectiveness of the proposed cooperative guidance law.